CN206967469U - Tunnel inspection device - Google Patents
Tunnel inspection device Download PDFInfo
- Publication number
- CN206967469U CN206967469U CN201720695859.8U CN201720695859U CN206967469U CN 206967469 U CN206967469 U CN 206967469U CN 201720695859 U CN201720695859 U CN 201720695859U CN 206967469 U CN206967469 U CN 206967469U
- Authority
- CN
- China
- Prior art keywords
- orbital segment
- gear
- rail mounted
- abrupt slope
- crusing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model is applied to inspection device technical field, provide a kind of tunnel inspection device, rack is set up by the abrupt slope orbital segment in inspection guide rail, and the gear being connected with drive device is provided with rail mounted crusing robot, when the rail mounted crusing robot abrupt slope orbital segment larger at angle of inclination is walked, gear can and rack engagement, drive device drive gear rotation, gear rotate during can with drive rail mounted crusing robot advance.During abrupt slope orbital segment is walked, due to engagement of the onward impulse from gear and rack, the engagement of the gear teeth causes gear that skidding will not occur, and is advantageous to rail mounted crusing robot and is preferably moved ahead in abrupt slope orbital segment.
Description
Technical field
The utility model belongs to inspection device technical field, more particularly to a kind of tunnel inspection device.
Background technology
The devices such as tunnel inner cable need checked, at present, the intelligentized rail mounted applied to inspection cable tunnel
For crusing robot using more and more extensive, cable tunnel length is short then hundreds of meters, it is long then several kilometers, or even tens kilometers, due to
Crusing robot possesses the real-time thermography analysis of the monitoring of the visible ray without the dead angle and thermal imaging of high definition camera, intellectuality operation
Inspection, because of its advantage efficiently, real-time, adaptive faculty is strong, crusing robot substitutes manpower and carries out inspection dimension to tunnel cable, equipment
It is more and more extensive to protect application aspect.But because tunnel moves towards complicated, narrow space, crusing robot must be compact, therefore,
The driving force that it is walked is limited, but the fluctuating of tunnel ramp is precipitous so that can include one for the track of crusing robot walking
The larger abrupt slope orbital segment of point horizontal or less light grade orbital segment in angle of inclination and a part of angle of inclination, general inspection
Robot can realize walking on light grade orbital segment by the power of itself, but in the larger abrupt slope track in angle of inclination
Section, will occur skidding, cause to be difficult to walk, therefore, crusing robot must possess larger angle gradeability.
Utility model content
The purpose of this utility model is to provide a kind of tunnel inspection device, it is intended to solves rail mounted inspection in the prior art
Robot is in the larger abrupt slope orbital segment walking in angle of inclination, the easy technical problem skidded.
The utility model is achieved in that a kind of tunnel inspection device, including described in rail mounted crusing robot and confession
The inspection guide rail of rail mounted crusing robot walking, the inspection guide rail include light grade orbital segment and abrupt slope rail
Road section, the gradient of the abrupt slope orbital segment are more than the gradient of the light grade orbital segment, and the rail mounted crusing robot includes
Inside, which is provided with the robot body of drive device, is connected with the drive device and driven by the drive device, to be rotated and is used for
The roller coordinated is rolled with the light grade orbital segment and is connected with the drive device and is driven by the drive device
Rotate and be used to roll the gear coordinated with the abrupt slope orbital segment, the side of abrupt slope orbital segment towards the gear is provided with
For the rack engaged with the gear.
Further, the rail mounted crusing robot also includes being connected with the drive device and filled by the driving
The rotating shaft of driving rotation is put, the roller and the gear are in turn secured to the rotating shaft along the axial direction of the rotating shaft.
Further, the gear is fixed on side of the rotating shaft away from the robot body, the abrupt slope track
Section with the gear is engaged positioned at the side of the light grade orbital segment away from the robot body and by the rack.
Further, the reference diameter of the gear is less than the external diameter of the roller.
Further, the upper surface of the abrupt slope orbital segment is higher than the upper surface of the light grade orbital segment.
Further, the rail mounted crusing robot is also fixed on the robot body and the other end including one end and supported
The inspection guide rail bottom is held in prevent the relatively described inspection guide rail of the rail mounted crusing robot from transporting upwards
Dynamic vertical position-limit mechanism.
Further, the vertical position-limit mechanism include one end be fixed on the vertical limit rotary shaft of the robot body with
And it is connected to the vertical limit rotary shaft and described in the limited roller is held in when the gear engages with the rack
Limited roller of the bottom surface of light grade orbital segment to coordinate with light grade orbital segment rolling.
Further, the rail mounted crusing robot is also fixed on the robot body and opposite side including side and supported
The orbit sidewall is held in prevent water that the rail mounted crusing robot moves horizontally relative to the inspection guide rail
Flat position-limit mechanism.
Further, the Horizontal limiting mechanism include both ends be fixed on the Horizontal limiting rotating shaft of the robot body with
And it is sheathed on the spacing roller of the Horizontal limiting rotating shaft and the side wall rolling in the light grade orbital segment.
Further, the abrupt slope orbital segment also includes installing plate, and the rack is installed on the installing plate.
The utility model has the technical effect that relative to prior art：The utility model passes through in inspection guide rail
Abrupt slope orbital segment sets up rack, and the gear being connected with drive device is provided with rail mounted crusing robot, works as track
When the formula crusing robot abrupt slope orbital segment larger at angle of inclination is walked, gear can drive with rack engagement, drive device
Moving gear rotate, gear rotate during can with drive rail mounted crusing robot advance.On abrupt slope, orbital segment is walked
During, due to engagement of the onward impulse from gear and rack, the engagement of the gear teeth causes gear that skidding will not occur,
Be advantageous to rail mounted crusing robot preferably to move ahead in abrupt slope orbital segment.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, below will to the utility model embodiment or
The required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings described below is only
Some embodiments of the utility model, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is signal of the rail mounted crusing robot of the utility model embodiment offer when light grade orbital segment is walked
Figure；
Fig. 2 is signal of the rail mounted crusing robot of the utility model embodiment offer when abrupt slope orbital segment is walked
Figure；
Fig. 3 is side view of the rail mounted crusing robot of the utility model embodiment offer when abrupt slope orbital segment is walked
Figure.
Description of reference numerals：
Embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, it is intended to for explaining the utility model, and it is not intended that to the utility model
Limitation.
, it is necessary to which explanation, when element, to be referred to as " being fixed on " or " being arranged at " another in description of the present utility model
Individual element, it directly on another element or can be connected on another element.When an element is known as " even
It is connected to " another element, it can be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, it is for only for ease of and describes the utility model and simplified description, rather than the device or element of instruction or hint meaning is necessary
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or two
More than, unless otherwise specifically defined.
For the ordinary skill in the art, above-mentioned term can be understood in the utility model as the case may be
In concrete meaning.
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.
Fig. 1 to Fig. 3 is referred to, the tunnel inspection device that the utility model embodiment provides includes rail mounted crusing robot
And the inspection guide rail 20 for rail mounted crusing robot walking, the inspection guide rail 20 include light grade track
Section 21 and abrupt slope orbital segment 22, the gradient of the abrupt slope orbital segment 22 is more than the gradient of the light grade orbital segment 21, described
Rail mounted crusing robot includes the internal robot body 10 for being provided with drive device (not shown), is connected with the drive device
And from the drive device drive rotate and for the light grade orbital segment roll with roller 11 and with it is described
Drive device connect and from the drive device drive rotate and for the abrupt slope orbital segment 22 roll with gear 12,
The abrupt slope orbital segment 22 is provided with the rack 221 for being used for engaging with the gear 12 towards the side of the gear 12.Need
It is bright, light grade orbital segment 21 and abrupt slope orbital segment 22 in the utility model embodiment and the light grade rail in background technology
Road section is identical with abrupt slope orbital segment referential meaning, does not repeat herein.
Fig. 1 to Fig. 3 is referred to, the utility model embodiment is increased by the abrupt slope orbital segment 22 in inspection guide rail 20
If rack 221, and the gear 12 being connected with drive device is provided with rail mounted crusing robot, when rail mounted survey monitor
When the device people abrupt slope orbital segment 22 larger at angle of inclination is walked, gear 12 can engage with rack 221, drive device driving
Gear 12 rotates, gear 12 rotate during can with drive rail mounted crusing robot advance.The orbital segment 22 on abrupt slope
During walking, due to engagement of the onward impulse from gear 12 and rack 221, the engagement of the gear teeth causes gear 12 not send out
Raw skidding, is advantageous to rail mounted crusing robot and is preferably moved ahead in abrupt slope orbital segment 22.Preferably, the rack 221
For flexible mild steel rack, rack 221 uses steel material so that it had both had intensity, rigidity and the wearability of rigid, again
Ability is bent with the flexibility in the range of certain radius to be adapted with ramp camber radius.The abrupt slope orbital segment 22 also wraps
Installing plate 222 is included, the rack 221 is installed on the installing plate 222.
Fig. 1 to Fig. 3 is referred to, further, the rail mounted crusing robot also includes being connected with the drive device
And the rotating shaft 13 of rotation, the axial direction side of the roller 11 and the gear 12 along the rotating shaft 13 are driven by the drive device
To being in turn secured to the rotating shaft 13.The gear 12 is fixed on side of the rotating shaft 13 away from the robot body 10,
The abrupt slope orbital segment 22 is located at side of the light grade orbital segment 21 away from the robot body 10 and passes through the tooth
Bar 221 engages with the gear 12.Based on this structure, roller 11 and gear 12 are coaxially connected, and are driven by rotating shaft 13
Rotation, avoids the setting of some transmission mechanisms so that rail mounted crusing robot is simple in construction, and cost is low.
Fig. 1 to Fig. 3 is referred to, further, the reference diameter of the gear 12 is less than the external diameter of the roller 11.Institute
The upper surface for stating abrupt slope orbital segment 22 is higher than the upper surface of the light grade orbital segment 21 and to work as the gear 12 and institute
When stating the engagement of rack 221, the roller 11 separates with the light grade orbital segment 21.Based on this structure, due to the diameter of roller 11
It is big compared with the reference diameter of gear 12, and gear 12 is connected with the coaxial rigid of roller 11, under same angular velocity, the traveling speed of roller 11
Spend for V=r*w, it is possible to achieve quick mobile, therefore, roller 11 can be with faster speed row on light grade orbital segment 21
Walk, when reaching abrupt slope orbital segment 22, gear 12 engages with rack 221, because the upper surface of abrupt slope orbital segment 22 is higher than clivia
The upper surface of orbital segment 21 is spent, therefore, rail mounted crusing robot can be raised above a segment distance so that roller 11 and light grade
Orbital segment 21 separates, and now, only gear 12 contacts operation with rack 221, and roller 11 vacantly disengages with inspection guide rail 20,
To ensure, because linear velocity is inconsistent, to cause roller 11 to wear risk.On the other hand, rail mounted crusing robot is in abrupt slope orbital segment
22 when climbing, and because gear 12 is smaller relative to the diameter of roller 11, according to M=FR, car body is in wide-angle or vertical climbing
F values are constant under state, R values get over hour, required moment of torsion M values are smaller, thus conversion to motor end when, required moment of torsion M value phases
Should be smaller, therefore, even if the driving force of drive device is smaller, rail mounted crusing robot can also be met in abrupt slope orbital segment 22
The above of climbing can realize rail mounted crusing robot in the high-speed cruising of light grade orbital segment 21, and climbing section use path
Gear 12 realizes wide-angle even vertical grade climbing performance.
Fig. 1 to Fig. 3 is referred to, further, the rail mounted crusing robot is also fixed on the machine including one end
Human body 10 and the other end are held in the bottom of inspection guide rail 20 to prevent the rail mounted crusing robot with respect to institute
State the vertical position-limit mechanism 14 that inspection guide rail 20 moves upwards.Vertical position limiting structure is set, rail mounted inspection can be prevented
Robot on inspection guide rail 20 when walking, because vibrations or external force cause crusing robot to depart from inspection guide rail
20。
Fig. 1 to Fig. 3 is referred to, further, the vertical position-limit mechanism 14 is fixed on the robot sheet including one end
The vertical limit rotary shaft 141 of body 10 and the limited roller 142 for being connected to the vertical limit rotary shaft 141, when the gear 12
When being engaged with the rack 221, the limited roller 142 is held in the bottom surface of the light grade orbital segment 21 and in described small
Rolled on the bottom surface of gradient orbital segment 21.During the climbing of abrupt slope orbital segment 22, gear 12 and rack 221 engage, due to
The upper surface of abrupt slope orbital segment 22 is higher than the upper surface of light grade orbital segment 21, and therefore, rail mounted crusing robot can ramp up
Play a segment distance so that roller 11 separates with light grade orbital segment 21, now, while limited roller 142 can be allowed to move up and pasted
Close in the bottom surface of light grade orbital segment 21 and then rolled with moving ahead for crusing robot, limited roller 142 avoids inspection
The angle of climb of robot is spent big and causes overturning or car body operation to turn round inclined phenomenon.
Fig. 1 to Fig. 3 is referred to, further, the rail mounted crusing robot is also fixed on the machine including side
Human body 10 and opposite side be held in the side wall of inspection guide rail 20 with prevent the rail mounted crusing robot relative to
The Horizontal limiting mechanism 15 that the inspection guide rail 20 moves horizontally.The Horizontal limiting mechanism 15 is fixed on institute including both ends
State the Horizontal limiting rotating shaft 151 of robot body 10 and be sheathed on the Horizontal limiting rotating shaft 151 and in the light grade
The spacing roller 152 that the side wall of orbital segment 21 rolls.Same Horizontal limiting mechanism 15 can ensure rail mounted crusing robot
Relative to the position of inspection guide rail 20 in the horizontal direction, avoid misplacing, derailment occurring occurs.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of tunnel inspection device, including rail mounted crusing robot and the inspection for rail mounted crusing robot walking
Guide rail, it is characterised in that the inspection guide rail includes light grade orbital segment and abrupt slope orbital segment, the abrupt slope rail
The gradient of road section is more than the gradient of the light grade orbital segment, and the rail mounted crusing robot includes inside and is provided with drive device
Robot body, be connected with the drive device and driven by the drive device and rotate and be used for and the light grade track
Section roll coordinate roller and be connected with the drive device and by the drive device drive rotate and for it is described suddenly
Slope orbital segment rolls the gear coordinated, and the abrupt slope orbital segment is provided with towards the side of the gear to be used to engage with the gear
Rack.
2. tunnel inspection device as claimed in claim 1, it is characterised in that the rail mounted crusing robot also includes and institute
State drive device connection and the rotating shaft of rotation is driven by the drive device, the roller and the gear are along the rotating shaft
Axial direction be in turn secured to the rotating shaft.
3. tunnel inspection device as claimed in claim 2, it is characterised in that the gear is fixed on the rotating shaft away from described
The side of robot body, the abrupt slope orbital segment be located at the side of the light grade orbital segment away from the robot body and
Engaged by the rack with the gear.
4. tunnel inspection device as claimed in claim 3, it is characterised in that the reference diameter of the gear is less than the rolling
The external diameter of wheel.
5. tunnel inspection device as claimed in claim 4, it is characterised in that the upper surface of the abrupt slope orbital segment is higher than described
The upper surface of light grade orbital segment.
6. tunnel inspection device as claimed in claim 5, it is characterised in that the rail mounted crusing robot also includes one end
It is fixed on the robot body and the other end and is held in the inspection guide rail bottom to prevent the rail mounted survey monitor
The vertical position-limit mechanism that the relatively described inspection guide rail of device people moves upwards.
7. tunnel inspection device as claimed in claim 6, it is characterised in that the vertical position-limit mechanism is fixed on including one end
The vertical limit rotary shaft of the robot body and it is connected to the vertical limit rotary shaft and when the gear and the tooth
The limited roller is held in the bottom surface of the light grade orbital segment and coordinated with being rolled with the light grade orbital segment when bar engages
Limited roller.
8. the tunnel inspection device as described in claim 1-7 any one, it is characterised in that the rail mounted inspection machine
People is also fixed on the robot body and opposite side including side and is held in the orbit sidewall to prevent the rail mounted from patrolling
The Horizontal limiting mechanism that inspection robot moves horizontally relative to the inspection guide rail.
9. tunnel inspection device as claimed in claim 8, it is characterised in that the Horizontal limiting mechanism is fixed on including both ends
The Horizontal limiting rotating shaft of the robot body and it is sheathed on the Horizontal limiting rotating shaft and in the light grade orbital segment
Side wall roll spacing roller.
10. the tunnel inspection device as described in claim 1-7 any one, it is characterised in that the abrupt slope orbital segment also wraps
Installing plate is included, the rack is installed on the installing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720695859.8U CN206967469U (en) | 2017-06-14 | 2017-06-14 | Tunnel inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720695859.8U CN206967469U (en) | 2017-06-14 | 2017-06-14 | Tunnel inspection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206967469U true CN206967469U (en) | 2018-02-06 |
Family
ID=61407988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720695859.8U Active CN206967469U (en) | 2017-06-14 | 2017-06-14 | Tunnel inspection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206967469U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501961A (en) * | 2018-05-14 | 2018-09-07 | 中建空列（北京）科技有限公司 | Hanging type aerial train climbing system |
| CN108814922A (en) * | 2018-06-27 | 2018-11-16 | 浙江豪中豪健康产品有限公司 | A kind of massage armchair |
| CN108871457A (en) * | 2018-07-27 | 2018-11-23 | 深圳市施罗德工业测控设备有限公司 | A kind of pipe detection system |
| CN108890617A (en) * | 2018-09-21 | 2018-11-27 | 广东科凯达智能机器人有限公司 | Modularization crusing robot and its system |
| CN109079747A (en) * | 2018-09-21 | 2018-12-25 | 广东科凯达智能机器人有限公司 | The crusing robot and its system of compound hoofing part |
| CN110788829A (en) * | 2019-11-14 | 2020-02-14 | 云南电网有限责任公司电力科学研究院 | Tunnel inspection robot suitable for steep slope lifting |
| CN111412366A (en) * | 2019-01-04 | 2020-07-14 | 远弘信息技术(上海)有限公司 | Intelligent household monitoring device |
| CN111605363A (en) * | 2020-04-30 | 2020-09-01 | 中国矿业大学 | Automatic inspection driving system with traveling wheels of rim tread and wheel teeth |
| CN113044503A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Rail traveling mechanism |
| CN115519561A (en) * | 2022-11-24 | 2022-12-27 | 西安彬林电子科技有限公司 | Multifunctional track type industrial intelligent inspection robot |
| CN117175438A (en) * | 2023-09-21 | 2023-12-05 | 南方电网调峰调频(广东)储能科技有限公司 | Autonomous inspection system for pumped storage power station cable tunnel |
-
2017
- 2017-06-14 CN CN201720695859.8U patent/CN206967469U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501961A (en) * | 2018-05-14 | 2018-09-07 | 中建空列（北京）科技有限公司 | Hanging type aerial train climbing system |
| CN108814922A (en) * | 2018-06-27 | 2018-11-16 | 浙江豪中豪健康产品有限公司 | A kind of massage armchair |
| CN108814922B (en) * | 2018-06-27 | 2024-01-12 | 浙江豪中豪健康产品有限公司 | Massage chair |
| CN108871457A (en) * | 2018-07-27 | 2018-11-23 | 深圳市施罗德工业测控设备有限公司 | A kind of pipe detection system |
| CN108890617A (en) * | 2018-09-21 | 2018-11-27 | 广东科凯达智能机器人有限公司 | Modularization crusing robot and its system |
| CN109079747A (en) * | 2018-09-21 | 2018-12-25 | 广东科凯达智能机器人有限公司 | The crusing robot and its system of compound hoofing part |
| CN111412366A (en) * | 2019-01-04 | 2020-07-14 | 远弘信息技术(上海)有限公司 | Intelligent household monitoring device |
| CN110788829A (en) * | 2019-11-14 | 2020-02-14 | 云南电网有限责任公司电力科学研究院 | Tunnel inspection robot suitable for steep slope lifting |
| CN113044503A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Rail traveling mechanism |
| CN111605363A (en) * | 2020-04-30 | 2020-09-01 | 中国矿业大学 | Automatic inspection driving system with traveling wheels of rim tread and wheel teeth |
| CN115519561A (en) * | 2022-11-24 | 2022-12-27 | 西安彬林电子科技有限公司 | Multifunctional track type industrial intelligent inspection robot |
| CN117175438A (en) * | 2023-09-21 | 2023-12-05 | 南方电网调峰调频(广东)储能科技有限公司 | Autonomous inspection system for pumped storage power station cable tunnel |
| CN117175438B (en) * | 2023-09-21 | 2024-03-29 | 南方电网调峰调频(广东)储能科技有限公司 | Autonomous inspection system for pumped storage power station cable tunnel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206967469U (en) | Tunnel inspection device | |
| CN101769971B (en) | Insulator detecting robot | |
| CN106740899A (en) | Electric tunnel inspection robot walking structure, robot and its method | |
| CN201331558Y (en) | Insulator detection robot | |
| CN105835978A (en) | Crawler-type magnetic-adsorption wall climbing robot | |
| WO2014043841A1 (en) | Track type omnibearing moving platform | |
| CN104110151B (en) | A kind of comb tooth type rotor tower garage parking equipment | |
| CN108382480A (en) | A kind of power steel pipe tower climbing robot | |
| CN104015830B (en) | A kind of active passive compound type negative-pressure adsorption continuous walking climbs wall sniffing robot | |
| CN109611640A (en) | Pipe robot | |
| CN206475957U (en) | A kind of modularization robot for adapting to small space | |
| CN105932600A (en) | Aerial cable inspection equipment | |
| CN106885097B (en) | Underground pipe network detection vehicle | |
| CN206053460U (en) | A kind of car carrying dolly | |
| CN109178140A (en) | A kind of wheel type barrier-crossing robot | |
| CN114321566A (en) | Crawler-type pipeline inspection robot | |
| CN205872499U (en) | Device is shot to aircraft cloud platform | |
| CN107940167B (en) | Stepping type pipeline inner wall defect image obtains robot | |
| CN103963799B (en) | A kind of robot walking device | |
| CN105731111A (en) | Coal leveling machine | |
| CN205753202U (en) | A kind of aerial cables inspection device | |
| CN209831627U (en) | Track type inspection robot | |
| CN211440007U (en) | Multi-dimensional detection robot special for wind driven generator blade | |
| CN207499540U (en) | double-layer parking space | |
| CN207779755U (en) | A kind of movable type sample skewering machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181218 Address after: 518000 Fengyun Science and Technology Building 301, No. 5 Industrial Zone, North Ring Road, Nanshan District, Shenzhen City, Guangdong Province Co-patentee after: Chengdu Hitoal Automatic Control Technology Co., Ltd. Patentee after: Shenzhen Launch Digital Technology Co., Ltd. Address before: 518000 Third Floor, Fengyun Building, Galaxy, No. 5 Xinxi Road, North District, Nanshan High-tech Park, Shenzhen City, Guangdong Province Patentee before: Shenzhen Launch Digital Technology Co., Ltd. |